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				@@ -174,7 +174,7 @@ public class PidLambdaContainer { 
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				             if((pctr*pcvr)==0d||ctr*cvr==0d){ 
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				                 lambdaNew=1d; 
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				             }else { 
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				-                lambdaNew=cvr*ctr/(pctr*pctr); 
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				+                lambdaNew=cvr*ctr/(pctr*pcvr); 
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				             } 
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				             //避免异常数据 
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				             if(lambdaNew>5){ 
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				@@ -196,7 +196,7 @@ public class PidLambdaContainer { 
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				             if((pctr*pcvr)==0d||ctr*cvr==0d){ 
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				                 lambdaNew=1d; 
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				             }else { 
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				-                lambdaNew=cvr*ctr/(pctr*pctr); 
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				+                lambdaNew=cvr*ctr/(pctr*pcvr); 
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				             } 
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				             if(lambdaNew>3){ 
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				                 lambdaNew=1d; 
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				@@ -217,7 +217,7 @@ public class PidLambdaContainer { 
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				             if((pctr*pcvr)==0d||ctr*cvr==0d){ 
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				                 lambdaNew=1d; 
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				             }else { 
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				-                lambdaNew=cvr*ctr/(pctr*pctr); 
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				+                lambdaNew=cvr*ctr/(pctr*pcvr); 
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				             } 
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				             if(lambdaNew>3){ 
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				                 lambdaNew=1d; 
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